Map data creation system, probe information generation device, and map data creation method

Abstract

The purpose of the present invention is to provide a technology that, taking into account the shape of a user's vehicle, makes it possible to confirm whether it is possible for the user to pass by an oncoming vehicle at a turnout, the user being a user of map data. This map data creation system is provided with: a refuge location-information generation unit for generating refuge location information when it is determined that a probe vehicle has taken a refuge action, the refuge location information including two-dimensional shape data of a refuge location generated on the basis of image information of within a predetermined range, and position information associated with said image information; and an update unit for updating map data on the basis of refuge location information.

Description

[Technical Field]

[0001] The present disclosure relates to a map data creation system, a probe information generation device, and a map data creation method. [Background technology]

[0002] A technique has been proposed for detecting a waiting area where a vehicle passes an oncoming vehicle on a narrow road such as a mountain road (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-267005 Summary of the Invention [Problem to be solved by the invention]

[0004] If a map creation center that can communicate with probe vehicles obtains the locations of the above-mentioned turning-off places from the probe vehicles and creates map data to which the locations of the turning-off places are added, users of the map data can confirm the turning-off places where oncoming vehicles should pass. However, because the specific shapes of the turning-off places are not shown in the map data, there is a problem that, depending on the shape of the vehicle, it may not be possible to pass oncoming vehicles at the turning-off places.

[0005] Therefore, the present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a technology that enables a user of map data to check whether or not they can pass an oncoming vehicle at a turning-off location, taking into account the shape of their vehicle. [Means for solving the problem]

[0006] The map data creation system according to the present disclosure includes a location information acquisition unit that acquires location information of a probe vehicle, an image information acquisition unit that acquires image information showing an image of the periphery of the probe vehicle and associated with the location information, an avoidance behavior determination unit that determines whether the probe vehicle has performed an avoidance behavior by moving from a road on which the probe vehicle is traveling to an avoidance location beside the road on which the probe vehicle is traveling based on the acquired information acquired by the probe vehicle, and a map data creation unit that, when it is determined that the probe vehicle has performed an avoidance behavior, determines whether the probe vehicle has performed an avoidance behavior by moving from a road on which the probe vehicle is traveling to an avoidance location beside the road on which the probe vehicle is traveling based on the image information within a predetermined range. In plan view The system includes a shelter information generating unit that generates two-dimensional shape data of the shelter and generates shelter information including the two-dimensional shape data and position information associated with the image information, and an updating unit that updates the map data based on the shelter information. [Effects of the Invention]

[0007] According to the present disclosure, when it is determined that a probe vehicle has performed an evacuation maneuver, evacuation place information including two-dimensional shape data of the evacuation place generated based on image information within a predetermined range and position information is generated, and map data is updated based on the evacuation place information. With this configuration, a user of the map data can check whether or not they can pass an oncoming vehicle at the evacuation place, taking into account the shape of their vehicle.

[0008] The objects, features, aspects and advantages of the present disclosure will become more apparent from the following detailed description and the accompanying drawings. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram showing a configuration of a map data creation system according to a first embodiment. [Figure 2] 4 is a flowchart showing the operation of the probe information generating device according to the first embodiment. [Figure 3] 4 is a flowchart showing the operation of the map creation center according to the first embodiment. [Figure 4]3 is a diagram for explaining the operation of a map data creation system to be compared with the map data creation system according to the first embodiment. FIG. [Figure 5] FIG. 2 is a diagram for explaining the operation of the map data creation system according to the first embodiment. [Figure 6] FIG. 3 is a diagram showing map data to be compared with the map data according to the first embodiment. [Figure 7] FIG. 3 is a diagram showing map data according to the first embodiment. [Figure 8] FIG. 3 is a diagram showing map data according to the first embodiment. [Figure 9] FIG. 2 is a block diagram showing a configuration of a map data creation system according to a first modification of the first embodiment. [Figure 10] FIG. 10 is a diagram for explaining the operation of the map data creation system according to the fourth modification of the first embodiment. [Figure 11] FIG. 10 is a block diagram showing the configuration of a map data creation system according to a second embodiment. [Figure 12] 10 is a flowchart showing the operation of the probe information generating device according to the second embodiment. [Figure 13] 10 is a flowchart showing the operation of the map creation center according to the second embodiment. [Figure 14] FIG. 10 is a block diagram showing the configuration of a map data creation system according to a third embodiment. [Figure 15] 11 is a flowchart showing the operation of the probe information generating device according to the third embodiment. [Figure 16] 11 is a flowchart showing the operation of the map creation center according to the third embodiment. [Figure 17] FIG. 10 is a block diagram showing a hardware configuration of a driving assistance device according to another modified example. [Figure 18] FIG. 10 is a block diagram showing a hardware configuration of a driving assistance device according to another modified example. DETAILED DESCRIPTION OF THE INVENTION

[0010] <First Embodiment> Fig. 1 is a block diagram showing the configuration of a map data creation system according to the first embodiment. The map data creation system of Fig. 1 includes a probe information generation device 1 and a map creation center 2. The probe information generation device 1 is provided in a probe vehicle 51, and generates probe information based on information acquired by the probe vehicle 51. The map creation center 2 is a server that can communicate with the probe information generation device 1 via wireless communication or the like, and creates map data based on the probe information from the probe information generation device 1.

[0011] <Probe vehicle> The probe vehicle 51 is provided with not only the probe information generating device 1 but also a GNSS 52 and an imaging device 53. The GNSS (Global Navigation Satellite System) 52 and the imaging device 53 are connected to the probe information generating device 1 so as to be able to communicate with each other.

[0012] The GNSS 52 determines the position information of the probe vehicle 51 based on signals from artificial satellites. The photographing device 53 includes, for example, a camera, and generates image information showing an image of the periphery of the probe vehicle 51. In the first embodiment, the photographing device 53 is described as including a front camera that generates image information showing an image in front of the probe vehicle 51. The image shown by the image information may be a still image acquired sequentially, or may be a moving image.

[0013] <Probe information generating device> The probe information generation device 1 includes a position information acquisition unit 11, an image information acquisition unit 12, and a transmission unit 13.

[0014] The position information acquisition unit 11 acquires the position information of the probe vehicle 51 from the GNSS 52. If the position information acquisition unit 11 is configured to be able to acquire map data and sensor information, it may perform position correction such as map matching on the position information from the GNSS 52 based on the map data and the sensor information.

[0015] The image information acquisition unit 12 acquires image information from the photographing device 53 and position information from the position information acquisition unit 11, and associates the image information and position information acquired at substantially the same time with each other.

[0016] The transmitter 13 transmits the probe information to the map creation center 2 by wireless communication or the like. Note that the probe information according to the first embodiment includes image information and position information associated with the image information.

[0017] In the above description, the location information acquisition unit 11 and the GNSS 52 are provided separately, but this is not limited thereto, and the location information acquisition unit 11 may include the GNSS 52. In the above description, the image information acquisition unit 12 and the photographing device 53 are provided separately, but this is not limited thereto, and the image information acquisition unit 12 may include the photographing device 53. In the above description, the transmission unit 13 is provided in the probe information generation device 1, but like the GNSS 52 and the photographing device 53, it may be provided separately from the probe information generation device 1.

[0018] <Map Creation Center> The map creation center 2 includes a receiving unit 21 , a temporary storage unit 22 , an evacuation behavior determining unit 23 , a storage unit 24 , an evacuation location information generating unit 25 , an updating unit 26 , and a map data storage unit 27 .

[0019] The receiving unit 21 receives the probe information transmitted from the transmitting unit 13 of the probe information generation device 1 .

[0020] The temporary storage unit 22 temporarily stores the probe information received by the receiving unit 21 .

[0021] The avoidance behavior determination unit 23 acquires acquired information from the probe information stored in the temporary storage unit 22. The acquired information is information acquired by the probe vehicle 51. In the first embodiment, the acquired information is image information, and the avoidance behavior determination unit 23 determines, based on the image information that is the acquired information, whether or not the probe vehicle 51 has performed an avoidance behavior of moving from the road on which the probe vehicle 51 is traveling to a waiting area beside the road.

[0022] For example, the avoidance behavior determination unit 23 determines whether the probe vehicle 51 has moved to a waiting area based on the image information. Specifically, the avoidance behavior determination unit 23 performs image recognition on the image information and determines whether half or more of the body of the probe vehicle 51 has protruded from the road on which the probe vehicle 51 is traveling. If the avoidance behavior determination unit 23 determines that the probe vehicle 51 has protruded, it determines that the probe vehicle 51 has moved to a waiting area. Then, if the avoidance behavior determination unit 23 determines that the probe vehicle 51 has moved to a waiting area, it determines that the probe vehicle 51 has performed an avoidance behavior.

[0023] The waiting area may be any place where the probe vehicle 51 can yield the road to another vehicle. In the first embodiment, the other vehicle is an oncoming vehicle of the probe vehicle 51, but as will be described later, the other vehicle does not have to be an oncoming vehicle.

[0024] When it is determined that the probe vehicle 51 has performed an avoidance behavior, the avoidance behavior determination unit 23 stores probe information including image information within a predetermined range and position information associated with the image information in the storage unit 24. In the first embodiment, the image information within the predetermined range is image information at one or more points in time from the point at which it is determined that the probe vehicle 51 has performed an avoidance behavior until a predetermined period of time. However, the image information within the predetermined range is not limited to this, and may be image information at one or more points within a predetermined distance (for example, 5 m) from the point at which it is determined that the probe vehicle 51 has performed an avoidance behavior.

[0025] The storage unit 24 stores probe information including image information within a predetermined range and position information associated with the image information. The probe information stored in the storage unit 24 may be deleted from the temporary storage unit 22.

[0026] The evacuation area information generating unit 25 acquires image information within a predetermined range from the probe information stored in the storage unit 24, and generates two-dimensional shape data of the evacuation area based on the image information. The two-dimensional shape data may be, for example, polygon data expressed by polygons in which point coordinate sequences are connected by straight lines, polygon data expressed by multiple triangles, data expressed by curves connecting point coordinate sequences, or data in any other format.

[0027] In addition, the evacuation location information generation unit 25 acquires location information associated with the image information used to generate the two-dimensional shape data from the probe information stored in the memory unit 24, and generates evacuation location information including the two-dimensional shape data and the location information.

[0028] The update unit 26 updates the map data stored in the map data storage unit 27 based on the evacuation place information generated by the evacuation place information generation unit 25. For example, the update unit 26 adds two-dimensional shape data of the evacuation place to the map data stored in the map data storage unit 27.

[0029] <Operation> 2 is a flowchart showing the operation of the probe information generating device 1 according to the present embodiment 1. The operation in FIG. 2 starts, for example, when the probe vehicle 51 starts traveling.

[0030] In step S1 , the position information acquisition unit 11 acquires the position information of the probe vehicle 51 .

[0031] In step S2, the image information acquisition unit 12 acquires image information showing an image ahead of the probe vehicle 51, and associates the position information and the image information with each other at time t.

[0032] In step S3, the transmitter 13 transmits the associated position information and image information as probe information U(t) to the map creation center 2. Note that if there are multiple probe vehicles 51, the probe information may include an ID for identifying the probe vehicle 51.

[0033] In step S4, the probe information generating device 1 determines whether the traveling of the probe vehicle 51 has ended. If it is determined that the traveling has ended, the operation in Fig. 2 ends, and if it is determined that the traveling has not ended, the process proceeds to step S1. As a result, the processes of steps S1 to S4 are repeated as long as the probe vehicle 51 continues traveling.

[0034] FIG. 3 is a flowchart showing the operation of the map creation center 2 according to the first embodiment.

[0035] In step S11 , the receiving unit 21 receives the probe information from the probe vehicle 51 and stores the probe information in the temporary storage unit 22 .

[0036] In step S12, the avoidance behavior determination unit 23 acquires image information from the probe information stored in the temporary storage unit 22, and determines whether or not the probe vehicle 51 has performed an avoidance behavior based on the image information. If there are multiple probe vehicles 51, the avoidance behavior determination unit 23 determines whether or not each probe vehicle 51 has performed an avoidance behavior using an ID that identifies the probe vehicle 51. If it is determined that the probe vehicle 51 has performed an avoidance behavior, the process proceeds to step S13, and if it is determined that the probe vehicle 51 has not performed an avoidance behavior, the process proceeds to step S11.

[0037] In step S13, the avoidance behavior determination unit 23 stores in the storage unit 24 the probe information including the image information within a predetermined range.

[0038] In step S14, the turning-off place information generating unit 25 generates two-dimensional shape data of the turning-off place based on image information within a predetermined range that is stored in the storage unit 24. Hereinafter, the advantages of generating two-dimensional shape data of the turning-off place based on image information within a predetermined range when the probe vehicle 51 performs turning-off behavior will be described.

[0039] 4 is a diagram showing the operation of the probe vehicle 56 different from that of the first embodiment, and is a diagram showing the photographing range 56a of the probe vehicle 56 when the probe vehicle 56 travels without determining whether it has taken an evasive action. Note that t0, t1, and t2 indicate the passage of time, and the acute angle of the pentagon in FIG. 4 corresponds to the front part of the probe vehicle 56.

[0040] The turning-off place 57 in Fig. 4 is sandwiched between features 58 such as buildings, mountain surfaces, and trees. When the probe vehicle 56 travels without determining whether to take turning-off action, as shown in Fig. 4, the probe vehicle 56 is unable to capture much of the turning-off place 57. For this reason, it is difficult to generate accurate two-dimensional shape data of the turning-off place 57 based on image information captured by the probe vehicle 56. Furthermore, it is difficult to always identify image information indicating the turning-off place 57 from the captured image information, making it difficult to generate two-dimensional shape data of the turning-off place 57.

[0041] FIG. 5 is a diagram showing the operation of the probe vehicle 51 according to the first embodiment, and is a diagram showing the photographing range 51a of the probe vehicle 51 when it is determined that the probe vehicle 51 has taken a turning-off action. As shown in FIG. 5, when the probe vehicle 51 takes a turning-off action, the photographing device 53 can photograph most of the turning-off place 57. Therefore, it is possible to generate two-dimensional shape data of the turning-off place 57 with high accuracy based on the image information generated by the photographing device. Furthermore, when taking a turning-off action, the probe vehicle 51 moves slowly or stops, so that it is possible to photograph a large number of images without blurring, and as a result, it is expected that the accuracy of the two-dimensional shape data of the turning-off place 57 will be improved. Furthermore, it is easy to identify the image information indicating the turning-off place 57, which facilitates the process of generating the two-dimensional shape data.

[0042] The evacuation place information generating unit 25 may generate the two-dimensional shape data of the evacuation place 57 based on either image information at one time point within a predetermined range or image information at multiple times within a predetermined range. However, from the viewpoint of increasing the accuracy of the two-dimensional shape data, it is preferable that the evacuation place information generating unit 25 generates the two-dimensional shape data of the evacuation place 57 based on image information at multiple times within a predetermined range.

[0043] Furthermore, even the probe vehicle 51 of the first embodiment shown in Fig. 5 may not be able to capture an image of the lower part of the shape of the turnout 57 shown in Fig. 5. In such a case, the turnout information generating unit 25 may complement the two-dimensional shape data of the turnout 57 with at least the space for the probe vehicle 51, taking into consideration that the probe vehicle 51 could have moved to the turnout 57.

[0044] In step S15 of FIG. 3, the evacuation place information generating unit 25 generates evacuation place information including two-dimensional shape data and position information associated with the image information used to generate the two-dimensional shape data.

[0045] In step S16, the update unit 26 updates the map data stored in the map data storage unit 27 based on the evacuation location information. After that, the process proceeds to step S11.

[0046] 6 is a diagram showing an example of map data to be compared with the map data according to the first embodiment, in which the location of a turning-off area 57 and a section 61 on the road where it is difficult for vehicles to pass each other are added to a road 62 in the map data. In the case of FIG. 6, since the two-dimensional shape data of the turning-off area 57 is not added to the map data, it may be impossible for a vehicle to pass an oncoming vehicle at the turning-off area 57 depending on the shape of the vehicle.

[0047] 7 is a diagram showing an example of map data according to the first embodiment, in which a two-dimensional shape of a turning-out area 57 and a section 61 on the road where it is difficult for vehicles to pass each other are added to a road 62 in the map data. In the case of FIG. 7, because the two-dimensional shape data of the turning-out area 57 is added to the map data, a user of the map data can check whether or not they can pass an oncoming vehicle at the turning-out area 57, taking into account the shape of their vehicle.

[0048] Note that when the scale denominator of the map data is equal to or greater than a certain value, the map data of Fig. 6 may be displayed, and when the scale denominator of the map data is smaller than a certain value, the map data of Fig. 7 may be displayed. Furthermore, in response to a request from a user of the map data, map data may be displayed to which a vehicle object 63 indicating the shape of the user's vehicle is added, as shown in Fig. 8.

[0049] <Summary of the First Embodiment> According to the map data creation system of the first embodiment as described above, when it is determined that the probe vehicle 51 has performed an evacuation maneuver, two-dimensional shape data of the turning-off place 57 is generated based on image information within a predetermined range. With this configuration, the two-dimensional shape data of the turning-off place 57 is added to the map data, so that the user of the map data can check whether or not they can pass an oncoming vehicle at the turning-off place 57, taking into account the shape of their vehicle. Furthermore, it is also easy to identify image information indicating the turning-off place 57, which facilitates the process of generating the two-dimensional shape data.

[0050] Furthermore, according to this embodiment 1, when it is determined based on image information that the probe vehicle 51 has moved to the turning-off location 57, it is determined that the probe vehicle 51 has performed turning-off behavior, so that a certain degree of accuracy in determining turning-off behavior can be ensured.

[0051] <Variation 1> In the first embodiment, the avoidance behavior determination unit 23 determines that the probe vehicle 51 has performed an avoidance behavior when it determines, based on image information, that the probe vehicle 51 has moved to the avoidance location 57, but this is not limited to this.

[0052] Fig. 9 is a block diagram showing the configuration of a map data creation system according to Modification 1. The configuration in Fig. 9 is the same as the configuration in Fig. 1, except that an in-vehicle LAN (Local Area Network) 54 and a behavior information acquisition unit 14 are added.

[0053] The in-vehicle LAN 54 is provided outside the probe information generating device 1, and generates vehicle behavior information related to the traveling of the probe vehicle 51 based on signals from various sensors of the vehicle. The vehicle behavior information includes, for example, speed, acceleration, and steering angle. The behavior information acquiring unit 14 is provided in the probe information generating device 1, and acquires the vehicle behavior information from the in-vehicle LAN 54. Note that, although the in-vehicle LAN 54 and the behavior information acquiring unit 14 are provided separately in FIG. 9, the behavior information acquiring unit 14 may be provided with the in-vehicle LAN 54.

[0054] The vehicle behavior information acquired by the behavior information acquisition unit 14 of the probe information generation device 1 is associated with the position information and image information and included in the probe information, which is then acquired by the avoidance behavior determination unit 23 of the map creation center 2.

[0055] The avoidance behavior determination unit 23 determines whether the probe vehicle 51 has performed an avoidance behavior based on the acquired vehicle behavior information. With this configuration, although the accuracy of determining whether an avoidance behavior has been performed decreases to some extent, image processing for determining whether an avoidance behavior has been performed is not required, and therefore a reduction in the processing load can be expected.

[0056] The avoidance behavior determination unit 23 may determine whether the probe vehicle 51 has performed an avoidance behavior based on both the image information and the vehicle behavior information included in the acquired information. Such a configuration can improve the accuracy of determining whether the probe vehicle 51 has performed an avoidance behavior, making it possible to generate two-dimensional shape data for an appropriate avoidance location. The avoidance behavior determination unit 23 may also determine whether the probe vehicle 51 has performed an avoidance behavior based on position information, which is the acquired information. The avoidance behavior determination unit 23 may also determine whether the probe vehicle 51 has performed an avoidance behavior based on at least one of the image information, the vehicle behavior information, and the position information.

[0057] <Variation 2> In the first embodiment, when the avoidance behavior determination unit 23 determines based on image information that the probe vehicle 51 has moved to the turning-off place 57, the unit determines that the probe vehicle 51 has performed an avoidance behavior, regardless of the presence of an oncoming vehicle of the probe vehicle 51. However, the avoidance behavior determination unit 23 may also determine that the probe vehicle 51 has performed an avoidance behavior when the unit determines based on image information that the probe vehicle 51 has moved to the turning-off place 57 and also determines that the oncoming vehicle of the probe vehicle 51 has passed the probe vehicle 51. With such a configuration, the accuracy of determining the avoidance behavior can be improved, and two-dimensional shape data can be generated for turning-off places that have actually been useful.

[0058] The avoidance behavior determination unit 23 does not have to determine whether an oncoming vehicle of the probe vehicle 51 has passed the probe vehicle 51 based on image information. For example, if the probe information generation device 1 is connected to a periphery detection sensor such as a ToF (Time of Flight) sensor that can detect the position or movement of an oncoming vehicle, the probe information generation device 1 may include the detection result of the periphery detection sensor in the probe information. Then, the avoidance behavior determination unit 23 may determine whether an oncoming vehicle of the probe vehicle 51 has passed the probe vehicle 51 based on the detection result of the periphery detection sensor, which is the acquired information. The ToF sensor includes, for example, a Lidar (Light Detection And Ranging) sensor and an ultrasonic sensor.

[0059] Furthermore, in the first embodiment, the other vehicle to which the probe vehicle 51 gives way on the traveling road is described as an oncoming vehicle, but it may also be a following vehicle that has been following the probe vehicle 51. In other words, the avoidance behavior determination unit 23 may determine that the probe vehicle 51 has performed an avoidance behavior when it determines, based on the acquired information, that the probe vehicle 51 has moved to the avoidance location 57 and that a vehicle following the probe vehicle 51 has overtaken the probe vehicle 51.

[0060] Furthermore, the avoidance behavior determination unit 23 may generate identification information that distinguishes between (1) a case where it is determined that the probe vehicle 51 has only moved to the waiting area 57 and (2) a case where it is determined that the probe vehicle 51 has moved to the waiting area 57 and also that an oncoming vehicle of the probe vehicle 51 has passed the probe vehicle 51. Then, the map creation center 2 may add the identification information to the map data.

[0061] According to this configuration, the reliability of the turning-off place is higher in case (2) than in case (1), so the user of the map data can confirm the reliability of the turning-off place in advance. Note that the turning-off behavior determination unit 23 may also perform the same operation on a following vehicle as it does on an oncoming vehicle. That is, the turning-off behavior determination unit 23 may generate identification information that distinguishes between (1) a case where it is determined that the probe vehicle 51 has only moved to the turning-off place 57 and (2) a case where it is determined that the probe vehicle 51 has moved to the turning-off place 57 and also that a vehicle following the probe vehicle 51 has overtaken the probe vehicle 51.

[0062] <Variation 3> In the first embodiment, the turnout place information generated by the turnout place information generating unit 25 includes two-dimensional shape data and position information, but this is not limited thereto. For example, when it is determined that the probe vehicle 51 has performed a turnout action, the turnout place information generating unit 25 may generate attribute information about the road surface condition of the turnout place based on the acquired information and include the attribute information in the turnout place information. The acquired information may include, for example, image information within a predetermined range and / or detection results of a perimeter detection sensor within the predetermined range. The road surface condition may include, for example, the pavement condition of the turnout place, the presence and size of any step between the turnout place and the road, the connection state between the turnout place and the road, and the presence or absence of vegetation. With this configuration, attribute information can be added to the map data, allowing a user of the map data to determine in advance whether or not to turnout at a turnout place, taking the attribute information into consideration.

[0063] Furthermore, for example, when it is determined that the probe vehicle 51 has performed an evacuation action, the evacuation place information generating unit 25 may generate three-dimensional shape data of the evacuation place based on the acquired information and include the three-dimensional shape data in the evacuation place information. The acquired information may include, for example, image information within a predetermined range and / or detection results of a perimeter detection sensor within the predetermined range. With this configuration, the three-dimensional shape data can be added to the map data, allowing the user of the map data to determine in advance whether or not to evacuate at the evacuation place, taking into account the three-dimensional shape data.

[0064] <Variation 4> In the first embodiment, the photographing device 53 is a front camera, and the image of the periphery of the probe vehicle 51 is an image in front of the probe vehicle 51, but this is not limited to this. As shown in Fig. 10, the photographing device 53 may be a rear camera, and the image of the periphery of the probe vehicle 51 may be an image behind the probe vehicle 51. In this case, too, two-dimensional shape data of the turning-off place 57 can be added to the map data, as in the first embodiment.

[0065] As described above, when the image of the periphery of the probe vehicle 51 is an image in front of the probe vehicle 51, it may not be possible to capture the lower part of the shape of the turning-off place 57 in Fig. 5. On the other hand, when the image of the periphery of the probe vehicle 51 is an image behind the probe vehicle 51, it may not be possible to capture the upper part of the shape of the turning-off place 57 in Fig. 10. Therefore, the image of the periphery of the probe vehicle 51 may include both an image in front of the probe vehicle 51 and an image behind the probe vehicle 51. With this configuration, it is possible to prevent partial omission of the turning-off place 57 in the two-dimensional shape data.

[0066] The image of the periphery of the probe vehicle 51 may be an image from a surround view camera, an image from a side camera, or a rear-side image captured by an electronic mirror system.

[0067] <Embodiment 2> 11 is a block diagram showing the configuration of a map data creation system according to Embodiment 2. In the following, of the components according to Embodiment 2, components that are the same as or similar to the components described above are given the same or similar reference numerals, and different components will be mainly described.

[0068] In the second embodiment, in the configuration of FIG. 1 of the first embodiment, the temporary storage unit 22 and the evacuation behavior determination unit 23 are provided in the probe information generation device 1 instead of the map creation center 2. That is, the probe information generation device 1 includes a position information acquisition unit 11, an image information acquisition unit 12, a transmission unit 13, a temporary storage unit 22, and an evacuation behavior determination unit 23. The map creation center 2 includes a reception unit 21, a storage unit 24, an evacuation place information generation unit 25, an update unit 26, and a map data storage unit 27.

[0069] The temporary storage unit 22 of the probe information generating device 1 temporarily stores the image information and the position information associated with the image information. The avoidance behavior determination unit 23 determines whether the probe vehicle 51 has performed an avoidance behavior based on the image information, which is the acquired information.

[0070] When it is determined that the probe vehicle 51 has performed an evacuation action, the transmission unit 13 transmits the probe information to the map creation center 2. Note that the probe information according to the second embodiment includes image information within a predetermined range and position information associated with the image information.

[0071] The receiving unit 21 of the map creation center 2 receives the probe information transmitted from the transmitting unit 13 of the probe information generating device 1. The storage unit 24 stores the probe information received by the receiving unit 21. The turnout place information generating unit 25, the updating unit 26, and the map data storage unit 27 according to the second embodiment are the same as the turnout place information generating unit 25, the updating unit 26, and the map data storage unit 27 according to the first embodiment.

[0072] <Operation> Fig. 12 is a flowchart showing the operation of the probe information generating device 1 according to the present embodiment 2. The operation in Fig. 12 is the same as the operation in the flowchart in Fig. 2, except that step S3 is replaced by steps S31 to S33, and therefore steps S31 to S33 will be mainly described below.

[0073] After step S2, in step S31, temporary storage unit 22 temporarily stores image information and position information associated with the image information.

[0074] In step S32, the avoidance behavior determination unit 23 determines whether or not the probe vehicle 51 has performed an avoidance behavior based on the image information stored in the temporary storage unit 22. If it is determined that the probe vehicle 51 has performed an avoidance behavior, the process proceeds to step S33, and if it is determined that the probe vehicle 51 has not performed an avoidance behavior, the process proceeds to step S4.

[0075] In step S33, the transmitter 13 transmits probe information including image information within a predetermined range and position information associated with the image information to the map creation center 2. Thereafter, the process proceeds to step S4.

[0076] Fig. 13 is a flowchart showing the operation of the map creation center 2 according to the present embodiment 2. The operation in Fig. 13 is the same as the operation in the flowchart in Fig. 3 except that steps S11 to S13 are replaced with step S36, so step S36 will be mainly described below.

[0077] In step S36, the receiving unit 21 receives the probe information transmitted from the transmitting unit 13 of the probe information generation device 1, and stores the probe information in the storage unit 24. Thereafter, the process proceeds to step S14.

[0078] <Summary of the second embodiment> According to the map data creation system of the second embodiment as described above, probe information including image information within a predetermined range and position information associated with the image information is transmitted from the probe information generation device 1 to the map creation center 2. With such a configuration, it is possible to reduce the amount of image information included in the probe information, and therefore the amount of communication from the probe information generation device 1 to the map creation center 2 can be reduced.

[0079] <Variation 1> The map data creation system may include a probe information generation device 1 that transmits probe information (image information+position information) according to Embodiment 1, and a probe information generation device 1 that transmits probe information (image information within a predetermined range+position information) according to Embodiment 2. The map data creation system may also include a map creation center 2 that can update map data based on the probe information according to Embodiment 1 and update map data based on the probe information according to Embodiment 2 in parallel.

[0080] <Variation 2> The map creation center 2 may learn a determination logic for the turning-around behavior by machine learning or the like based on the probe information including image information within a predetermined range and position information associated with the image information from the probe information generation device 1. Then, the map creation center 2 may transmit the determination logic to the probe information generation device 1 so that the turning-around behavior determination unit 23 of the probe information generation device 1 can determine turning-around behavior using the determination logic.

[0081] This configuration can improve the accuracy of determining the turning action in the probe information generation device 1. Furthermore, by the map creation center 2 transmitting the determination logic to the plurality of probe information generation devices 1, the accuracy of determining the turning action in the plurality of probe information generation devices 1 can be made uniform.

[0082] The modified examples of the first embodiment may be applied to the second embodiment to the extent that no contradiction occurs.

[0083] <Third Embodiment> 14 is a block diagram showing the configuration of a map data creation system according to Embodiment 3. In the following, of the components according to Embodiment 3, components that are the same as or similar to the components described above are given the same or similar reference numerals, and different components will be mainly described.

[0084] 11 of the second embodiment, the storage unit 24 and the evacuation place information generation unit 25 are provided in the probe information generation device 1 instead of the map creation center 2. That is, the probe information generation device 1 includes a position information acquisition unit 11, an image information acquisition unit 12, a transmission unit 13, a temporary storage unit 22, an evacuation behavior determination unit 23, a storage unit 24, and an evacuation place information generation unit 25. The map creation center 2 includes a reception unit 21, an update unit 26, and a map data storage unit 27.

[0085] The turning-off behavior determination unit 23 of the probe information generating device 1 determines whether the probe vehicle 51 has performed turning-off behavior based on the image information that is the acquired information. When it is determined that the probe vehicle 51 has performed turning-off behavior, the storage unit 24 stores image information within a predetermined range and position information associated with the image information. The turning-off place information generating unit 25 generates two-dimensional shape data of the turning-off place based on the image information within the predetermined range, and generates turning-off place information including the two-dimensional shape data and the position information associated with the image information.

[0086] The transmitter 13 transmits the probe information to the map creation center 2. The probe information according to the third embodiment includes evacuation location information.

[0087] The receiving unit 21 of the map creation center 2 receives the probe information transmitted from the transmitting unit 13 of the probe information generating device 1. The updating unit 26 updates the map data stored in the map data storage unit 27 based on the evacuation place information included in the probe information received by the receiving unit 21.

[0088] <Operation> Fig. 15 is a flowchart showing the operation of the probe information generating device 1 according to the present embodiment 3. The operation in Fig. 15 is the same as the operation in the flowchart in Fig. 12, except that step S33 is replaced by steps S41 to S44, and therefore steps S41 to S44 will be mainly described below.

[0089] If it is determined in step S32 that the probe vehicle 51 has performed an evasive action, in step S41, the evasive action determination unit 23 stores image information within a predetermined range and location information associated with the image information in the memory unit 24.

[0090] In step S42, the evacuation place information generating unit 25 generates two-dimensional shape data of the evacuation place based on the image information stored in the storage unit 24 and within a predetermined range.

[0091] In step S43, the evacuation place information generating unit 25 generates evacuation place information including two-dimensional shape data and position information associated with the image information used to generate the two-dimensional shape data.

[0092] In step S44, the transmission unit 13 transmits the probe information including the evacuation place information to the map creation center 2. After that, the process proceeds to step S4.

[0093] FIG. 16 is a flowchart showing the operation of the map creation center 2 according to the third embodiment.

[0094] In step S46, the receiving unit 21 receives the probe information transmitted from the transmitting unit 13 of the probe information generation device 1.

[0095] In step S16, the update unit 26 updates the map data stored in the map data storage unit 27 based on the evacuation location information included in the probe information received by the receiving unit 21. Thereafter, the process proceeds to step S46.

[0096] <Summary of the Third Embodiment> According to the map data creation system of the second embodiment as described above, probe information including turn-off location information is transmitted from the probe information generation device 1 to the map creation center 2. With this configuration, the probe information does not include image information, so the amount of communication from the probe information generation device 1 to the map creation center 2 can be reduced.

[0097] <Variation 1> The map data creation system may include a probe information generation device 1 that transmits probe information (image information+position information) according to Embodiment 1, a probe information generation device 1 that transmits probe information (image information within a predetermined range+position information) according to Embodiment 2, and a probe information generation device 1 that transmits probe information (elderlying place information) according to Embodiment 3. The map data creation system may also include a map creation center 2 that can update map data based on the probe information according to Embodiment 1, the probe information according to Embodiment 2, and the probe information according to Embodiment 3 in parallel.

[0098] <Variation 2> The map creation center 2 may learn, by machine learning or the like, a determination logic for evacuation behavior based on the probe information including evacuation place information from the probe information generation device 1. Then, the map creation center 2 may transmit the determination logic to the probe information generation device 1 so that the evacuation behavior determination unit 23 of the probe information generation device 1 can determine evacuation behavior using the determination logic.

[0099] This configuration can improve the accuracy of determining the turning action in the probe information generation device 1. Furthermore, by the map creation center 2 transmitting the determination logic to the plurality of probe information generation devices 1, the accuracy of determining the turning action in the plurality of probe information generation devices 1 can be made uniform.

[0100] The modifications of the first embodiment may be applied to the third embodiment to the extent that no contradiction occurs.

[0101] <Other variations> The position information acquisition unit 11, image information acquisition unit 12, turning-off behavior determination unit 23, turning-off place information generation unit 25, and update unit 26 in FIG. 1 described above will be hereinafter referred to as the "position information acquisition unit 11, etc." The position information acquisition unit 11, etc. are realized by a processing circuit 81 shown in FIG. 17. That is, the processing circuit 81 includes: a position information acquisition unit 11 that acquires position information of a probe vehicle; an image information acquisition unit 12 that acquires image information that shows an image of the periphery of the probe vehicle and that is associated with the position information; an turning-off behavior determination unit 23 that determines, based on the acquired information acquired by the probe vehicle, whether the probe vehicle has performed turning-off behavior by moving from a road on which the probe vehicle is traveling to a turning-off place beside the road; a turning-off place information generation unit 25 that, when it is determined that the probe vehicle has performed turning-off behavior, generates two-dimensional shape data of the turning-off place based on image information within a predetermined range and generates turning-off place information including the two-dimensional shape data and position information associated with the image information; and an update unit 26 that updates map data based on the turning-off place information. Dedicated hardware or a processor that executes a program stored in memory may be applied to the processing circuit 81. Examples of processors include a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP (Digital Signal Processor).

[0102] When the processing circuit 81 is dedicated hardware, the processing circuit 81 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination of these. The functions of each unit such as the position information acquisition unit 11 may be realized by a circuit in which processing circuits are distributed, or the functions of each unit may be realized together by a single processing circuit.

[0103] When the processing circuit 81 is a processor, the functions of the position information acquisition unit 11 and the like are realized in combination with software and the like. The software and the like may include, for example, software, firmware, or both software and firmware. The software and the like are written as a program and stored in a memory. As shown in FIG. 18 , the processor 82 applied to the processing circuit 81 realizes the functions of each unit by reading and executing a program stored in a memory 83. That is, the map data creation system includes a memory 83 for storing a program that, when executed by the processing circuit 81, results in the following steps: acquiring position information of a probe vehicle; acquiring image information showing an image of the area around the probe vehicle and associated with the position information; determining, based on the acquired information acquired by the probe vehicle, whether the probe vehicle has performed an evacuation maneuver by moving from the road on which the probe vehicle is traveling to an evacuation maneuver beside the road; generating two-dimensional shape data of the evacuation maneuver based on image information within a predetermined range when it is determined that the probe vehicle has performed an evacuation maneuver, and generating evacuation maneuver information including the two-dimensional shape data and the position information associated with the image information; and updating the map data based on the evacuation maneuver information. In other words, this program can be said to cause a computer to execute the procedures and methods of the location information acquisition unit 11, etc. Here, the memory 83 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), or an EEPROM (Electrically Erasable Programmable Read Only Memory), an HDD (Hard Disk Drive), a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, a DVD (Digital Versatile Disc), a drive device for any of these, or any storage medium that will be used in the future.

[0104] The above describes a configuration in which each function of the location information acquisition unit 11, etc. is realized either by hardware or software, etc. However, this is not limited to this, and a configuration in which part of the location information acquisition unit 11, etc. is realized by dedicated hardware and another part is realized by software, etc. For example, the function of the location information acquisition unit 11 can be realized by a processing circuit 81 as dedicated hardware, and the other functions can be realized by the processing circuit 81 as a processor 82 reading and executing a program stored in a memory 83.

[0105] As described above, the processing circuitry 81 can realize the above-mentioned functions by hardware, software, or a combination of these.

[0106] The map data creation system described above may be constructed by appropriately combining a vehicle device, a communication terminal, the functions of an application installed in at least one of the vehicle device and the communication terminal, and a server. The vehicle device may include, for example, a portable navigation device (PND) and a navigation device. The communication terminal may include, for example, a mobile phone, a smartphone, and a tablet. The functions or components of the map data creation system described above may be distributed among the vehicle device, the communication terminal, and the server, or may be concentrated in one of the devices.

[0107] It should be noted that the embodiments and modifications may be freely combined, and the embodiments and modifications may be modified or omitted as appropriate.

[0108] The above description is illustrative in all respects and is not restrictive. It is understood that countless variations not illustrated can be envisioned. [Explanation of symbols]

[0109] 1 probe information generation device, 2 map creation center, 11 location information acquisition unit, 12 image information acquisition unit, 13 transmission unit, 21 reception unit, 23 evacuation action determination unit, 25 evacuation location information generation unit, 26 update unit, 51 probe vehicle, 57 evacuation location.

Claims

1. a location information acquisition unit that acquires location information of the probe vehicle; an image information acquisition unit that acquires image information that shows an image of the periphery of the probe vehicle and is associated with the position information; an avoidance behavior determination unit that determines whether the probe vehicle has performed an avoidance behavior by moving from a road on which the probe vehicle is traveling to an avoidance location beside the road, based on the acquired information acquired by the probe vehicle; a waiting place information generating unit that generates two-dimensional shape data of the waiting place in a planar view based on the image information within a predetermined range when it is determined that the probe vehicle has performed the waiting action, and generates waiting place information including the two-dimensional shape data and the position information associated with the image information; an update unit that updates map data based on the evacuation location information; A map data creation system comprising:

2. 2. The map data creation system according to claim 1, A map data creation system, wherein the two-dimensional shape data includes polygon data.

3. 2. The map data creation system according to claim 1, The avoidance behavior determination unit A map data creation system that determines, based on the acquired information, that the probe vehicle has moved to the evacuation location and, if it determines that an oncoming vehicle of the probe vehicle has passed the probe vehicle, determines that the probe vehicle has performed the evacuation action.

4. 2. The map data creation system according to claim 1, a probe information generating device provided in the probe vehicle; a map creation center that is a server that can communicate with the probe information generation device; Equipped with The probe information generating device a location information acquisition unit, an image information acquisition unit, and a transmission unit that transmits probe information to the map creation center; The map creation center a receiving unit that receives the probe information from the probe information generating device, the evacuation behavior determining unit, the evacuation place information generating unit, and the updating unit; A map data creation system, wherein the probe information includes the image information and the location information associated with the image information.

5. 2. The map data creation system according to claim 1, a probe information generating device provided in the probe vehicle; a map creation center that is a server that can communicate with the probe information generation device; Equipped with The probe information generating device the location information acquisition unit, the image information acquisition unit, the avoidance behavior determination unit, and a transmission unit that transmits probe information to the map creation center when it is determined that the probe vehicle has performed the avoidance behavior; The map creation center a receiving unit that receives the probe information from the probe information generating device, the evacuation place information generating unit, and the updating unit; A map data creation system, wherein the probe information includes the image information within the predetermined range and the position information associated with the image information.

6. 2. The map data creation system according to claim 1, a probe information generating device provided in the probe vehicle; a map creation center that is a server that can communicate with the probe information generation device; Equipped with The probe information generating device the location information acquisition unit, the image information acquisition unit, the evacuation behavior determination unit, the evacuation place information generation unit, and a transmission unit that transmits probe information to the map creation center, The map creation center a receiving unit that receives the probe information from the probe information generating device; and an updating unit, A map data creation system, wherein the probe information includes the evacuation location information.

7. 2. The map data creation system according to claim 1, a behavior information acquisition unit that acquires vehicle behavior information related to the traveling of the probe vehicle; The avoidance behavior determination unit A map data creation system that determines whether or not the probe vehicle has performed the avoidance behavior based on the vehicle behavior information that is the acquired information.

8. 2. The map data creation system according to claim 1, The avoidance behavior determination unit a map data creation system that determines that the probe vehicle has performed the evacuation behavior when it is determined that the probe vehicle has moved to the evacuation location based on the image information that is the acquired information;

9. 2. The map data creation system according to claim 1, The avoidance behavior determination unit A map data creation system that determines that the probe vehicle has moved to the evacuation location based on the image information, which is the acquired information, and determines that the probe vehicle has performed the evacuation action if it determines that an oncoming vehicle of the probe vehicle has passed the probe vehicle.

10. 2. The map data creation system according to claim 1, The evacuation location information generation unit a map data creation system that, when it is determined that the probe vehicle has performed the evacuation action, generates attribute information about the road surface condition of the evacuation location based on the acquired information, and includes the attribute information in the evacuation location information.

11. 2. The map data creation system according to claim 1, The evacuation location information generation unit a map data creation system that, when it is determined that the probe vehicle has performed the evacuation action, generates three-dimensional solid shape data of the evacuation location based on the acquired information, and includes the three-dimensional solid shape data in the evacuation location information.

12. 2. The map data creation system according to claim 1, The image of the periphery of the probe vehicle includes at least one of an image in front of the probe vehicle and an image behind the probe vehicle.

13. A probe information generating device provided in a probe vehicle that can communicate with a map creation center that creates map data based on probe information, a position information acquisition unit that acquires position information of the probe vehicle; an image information acquisition unit that acquires image information that shows an image of the periphery of the probe vehicle and is associated with the position information; an avoidance behavior determination unit that determines whether the probe vehicle has performed an avoidance behavior by moving from a road on which the probe vehicle is traveling to an avoidance location beside the road, based on the acquired information acquired by the probe vehicle; a transmitting unit that transmits, when it is determined that the probe vehicle has performed the avoidance behavior, the image information within a predetermined range and the position information associated with the image information to the map creation center as the probe information; A probe information generating device comprising:

14. A probe information generating device provided in a probe vehicle that can communicate with a map creation center that creates map data based on probe information, a position information acquisition unit that acquires position information of the probe vehicle; an image information acquisition unit that acquires image information that shows an image of the periphery of the probe vehicle and is associated with the position information; an avoidance behavior determination unit that determines whether the probe vehicle has performed an avoidance behavior by moving from a road on which the probe vehicle is traveling to an avoidance location beside the road, based on the acquired information acquired by the probe vehicle; a waiting place information generating unit that generates two-dimensional shape data of the waiting place in a planar view based on the image information within a predetermined range when it is determined that the probe vehicle has performed the waiting action, and generates waiting place information including the two-dimensional shape data and the position information associated with the image information; a transmitting unit that transmits the evacuation location information to the map creation center as the probe information; A probe information generating device comprising:

15. A location information acquisition unit acquires location information of a probe vehicle, an image information acquisition unit that acquires image information showing an image of the periphery of the probe vehicle and associated with the position information; an avoidance behavior determination unit determines, based on the acquired information acquired by the probe vehicle, whether or not the probe vehicle has performed an avoidance behavior of moving from a road on which the probe vehicle is traveling to an avoidance location beside the road; a turnout information generation unit, when it is determined that the probe vehicle has performed the turnout behavior, generates two-dimensional shape data of the turnout in a planar view based on the image information within a predetermined range, and generates turnout information including the two-dimensional shape data and the position information associated with the image information; an updating unit updating the map data based on the evacuation place information;

Images